// Mission example:

#define WP_RADIUS 25 		// What is the minimum distance to reach a waypoint?

#define LOITER_RADIUS 45 	// How close to Loiter?

#define HOLD_CURRENT_ALT 0	// 1 = hold the current altitude, 
							// 0 = use the defined altitude to for RTL

#define ALT_TO_HOLD	30		// If you entered 0, altitude to hold above home in meters
							// If you entered 1, just leave this as the default, 30


float mission[][5] = {
{CMD_TAKEOFF, 			20, 100,	0,			0},	
{CMD_WAYPOINT, 			0, 100, 37.621392, -122.374660},	
{CMD_WAYPOINT, 			0, 75, 	37.619306, -122.370024},	
{CMD_WAYPOINT, 			0, 50, 	37.615977, -122.372470},	
{CMD_WAYPOINT, 			0, 25, 	37.617822, -122.377168},	
{CMD_WAYPOINT, 			0, 50, 	37.621392, -122.374660},	
{CMD_WAYPOINT, 			0, 75,	37.619306, -122.370024},	
{CMD_WAYPOINT, 			0, 100,	37.615977, -122.372470},	
{CMD_WAYPOINT, 			0, 75,	37.617822, -122.377168},	
{CMD_WAYPOINT, 			0, 50,	37.621392, -122.374660},	
{CMD_WAYPOINT, 			0, 25,	37.619306, -122.370024},	
{CMD_WAYPOINT, 			0, 50,	37.615977, -122.372470},	
{CMD_WAYPOINT, 			0, 75,	37.617822, -122.377168},	
{CMD_WAYPOINT, 			0, 40,	37.622354, -122.378007},	
{CMD_LAND, 				0, 	0, 	37.628574, -122.393102},
{CMD_LAND_OPTIONS, 		0,	5, 	30, 		300},
{CMD_LAND_OPTIONS, 		0,	5, 	10,	 		100},
{CMD_LAND_OPTIONS, 		30,	0, 	0,	 		20},
};
